Design of a monolithic double-slider based compliant gripper with large displacement and anti-buckling ability

Simple item page
dc.contributor.authorHao, Guangbo
dc.contributor.authorZhu, Jiaxiang
dc.date.accessioned2019-10-23T04:45:46Z
dc.date.available2019-10-23T04:45:46Z
dc.date.issued2019-08-30
dc.description.abstractIn a micro-manipulation system, the compliant gripper is used for gripping, handling and assembling of objects. Large displacement and anti-buckling characteristics are desired in the design of the gripper. In this paper, a compliant gripper with these two characteristics is proposed, modelled and verified. The large displacement is enabled by using distributed compliance in a double-slider kinematic mechanism. An inverted flexure arrangement enables the anti-buckling of the gripper when closing the two jaws. A pseudo-rigid-body model (PRBM) method with the help of virtual work principle is employed to obtain several desired analytical relations including the amplification coefficient and kinetostatics. The results of the finite element analysis (FEA) are shown to be consistent with the results of the derived analytical model. An experimental test was carried out through a milling machined aluminium alloy prototype, the results of which verify the good performance of the compliant gripper.en
dc.description.statusPeer revieweden
dc.description.versionPublished Versionen
dc.format.mimetypeapplication/pdfen
dc.identifier.articleid665en
dc.identifier.citationHao, G. and Zhu, J. (2019) 'Design of a Monolithic Double-Slider Based Compliant Gripper with Large Displacement and Anti-Buckling Ability', Micromachines, 10(10), 665.(15pp.) DOI:10.3390/mi10100665en
dc.identifier.doi10.3390/mi10100665en
dc.identifier.eissn2072-666X
dc.identifier.endpage15en
dc.identifier.issued10en
dc.identifier.journaltitleMicromachinesen
dc.identifier.startpage1en
dc.identifier.urihttps://hdl.handle.net/10468/8835
dc.identifier.volume10en
dc.language.isoenen
dc.publisherMDPIen
dc.relation.urihttps://www.mdpi.com/2072-666X/10/10/665/htm
dc.rights©2019 by the author. Licensee MDPI, Basel, Switzerland. This article is an open access article distributed under the terms and conditions of the Creative Commons Attribution (CC BY) license (http://creativecommons.org/licenses/by/4.0/).en
dc.rights.urihttp://creativecommons.org/licenses/by/4.0/en
dc.subjectCompliant gripperen
dc.subjectLarge motionen
dc.subjectAnti-bucklingen
dc.subjectModellingen
dc.titleDesign of a monolithic double-slider based compliant gripper with large displacement and anti-buckling abilityen
dc.typeArticle (peer-reviewed)en
Files
Original bundle
Now showing 1 - 1 of 1
Thumbnail Image
Name:
micromachines-10-00665-v2.pdf
Size:
8.84 MB
Format:
Adobe Portable Document Format
Description:
Published version
Download
License bundle
Now showing 1 - 1 of 1
Thumbnail Image
Name:
license.txt
Size:
2.71 KB
Format:
Item-specific license agreed upon to submission
Description:
Download
Collections
Electrical and Electronic Engineering - Journal Articles